CN205689996U - A kind of in-service pipeline inwall flaw detection robot system - Google Patents
A kind of in-service pipeline inwall flaw detection robot system Download PDFInfo
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- CN205689996U CN205689996U CN201620076468.3U CN201620076468U CN205689996U CN 205689996 U CN205689996 U CN 205689996U CN 201620076468 U CN201620076468 U CN 201620076468U CN 205689996 U CN205689996 U CN 205689996U
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- flaw detection
- pipeline
- detection robot
- switch
- communication
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Abstract
nullThe utility model discloses a kind of in-service pipeline inwall flaw detection robot system，Form including pipeline communication system and flaw detection robot，Pipeline communication system includes two cablets being laid in in-service pipeline，Some intelligent nodes have been arranged in parallel it between two cablets，Wireless short-range communication is used between flaw detection robot and intelligent node，Post house formula wire communication is carried out between intelligent node，Some pumping plants also it are disposed with along the line outside pipeline，It is provided with PC in each pumping plant、Power supply、Control switch、Interface board and current detection sensor，The duct wall flaw detection information of any point along the line for pipeline is passed through post house formula communication link to PC at the outer pumping plant of pipeline by flaw detection robot，This utility model solves present in prior art towing cable mode in in-service pipeline, and to make mobile terminal flaw detection robot and pumping plant control communication distance between terminal limited，Cause mobile terminal flaw detection robot operation apart from limited problem.
Description
Technical field
This utility model belongs to inspection technique field in in-service oil-gas transportation steel conduit, is specifically related in a kind of in-service pipeline
Wall flaw detection robot system.
Background technology
In in-service pipeline, flaw detection robot has towing cable (cable and optical cable) with extraneous communication, and robot enters pipeline to be passed through
At trailing cable or optical cable pumping plant outer with pipeline, PC communicates.Towing cable communication make robot manipulating task apart from limited, in order to make pipeline
Inner machine people's terminal PC telecommunication outer with pipeline, is laid in inner-walls of duct according to cable laying machine structure by thin cable, flaw detection
Robot can be embedded with cable in pipeline node carry out wireless short-range communication, then flaw detection robot any position in pipeline
Put and all flaw detection data can be transferred to PC at pumping plant along the line.Lay optical cable if used, optical cable along the line needs to arrange light
Cable interface, owing to optical interface difficult design and light energy are revealed！The equal energy in flaw detection robot optional position in pipeline cannot be met
Flaw detection data are transferred to the demand of PC at pumping plant along the line.
Utility model content
The purpose of this utility model is to provide a kind of in-service pipeline inwall flaw detection robot system, solves in prior art
In the in-service pipeline existed, towing cable mode makes communication distance between mobile terminal flaw detection robot and pumping plant control terminal limited, leads
Cause mobile terminal flaw detection robot operation apart from limited problem.
This utility model be employed technical scheme comprise that, a kind of in-service pipeline inwall flaw detection robot system, including pipeline
Communication system and flaw detection robot composition, pipeline communication system includes two cablets being laid in in-service pipeline, two cablets
It is respectively power cable V+ and reference potential cable Vr, between two cablets, is arranged in parallel some intelligent nodes, intelligent node
Employing super capacitor is powered, and uses wireless short-range communication, carry out post house formula between intelligent node between flaw detection robot and intelligent node
Wire communication, is also disposed with some pumping plants outside pipeline along the line.
Feature of the present utility model also resides in,
The concrete internal circuit configuration of each intelligent node is: include controller, the 3rd i/o mouth of controller and switch K2
Be connected to after connection on the power cable V+ of cablet, switch K2 be N-channel enhancement mode mos pipe, the power end VC of controller with fill
Electrical chip electric energy output end Cout connects, and an i/o mouth of controller is connected to the power cable V of cablet with switch K1 after being connected
On+, switch K1 is P-channel depletion type mos pipe, and the drain electrode of switch K1 is connected with the 2nd i/o mouth of controller again, meanwhile, and switch
The drain electrode of K1 is connected to again charging chip after connecting resistance R, and the electrical energy inputs of charging chip connects ground connection after electric capacity C1, charging
Connecting between C+ and C-of chip and have electric capacity C2, electric energy output end Cout of charging chip and earth terminal are also connected with band centre tap
Super capacitor C, be denoted as electric capacity C3 and electric capacity C4.
Controller model is MSP430.
Charging chip model is Itc3225.
Being provided with PC in each pumping plant, PC connects has power supply, power supply to be connected with current detection sensor again, and electric current is examined
Surveying sensor to be connected with main switch again, PC is also connected with interface board card, and interface board is also connected with main switch simultaneously, main switch
Using single-pole double-throw switch (SPDT), the duct wall of any point along the line for pipeline is detected a flaw information by post house formula communication link by flaw detection robot
It is transferred to PC at the outer pumping plant of pipeline.
Between each intelligent node, spacing distance is 10～14m.
The beneficial effects of the utility model are, a kind of in-service pipeline inwall flaw detection robot system, pipeline inspection robot
Telecommunication is realized, in conjunction with electrification energy storage mechanism online in flaw detection robot so that flaw detection robot is the most continuous with the external world
Boat is possibly realized.
Accompanying drawing explanation
Fig. 1 is the structural representation of this utility model a kind of in-service pipeline inwall flaw detection robot system；
Fig. 2 is the structural representation of each intelligent node in this utility model a kind of in-service pipeline inwall flaw detection robot system
Figure；
Fig. 3 is the structural representation of each pumping plant in this utility model a kind of in-service pipeline inwall flaw detection robot system.
In figure, 1. intelligent node, 2. pipeline, 3. pumping plant, 4. flaw detection robot, 5. cablet, 6. power supply, 7.PC machine, 8. connect
Oralia card, 9. current detection sensor, 10. main switch.
Detailed description of the invention
With detailed description of the invention, this utility model is described in detail below in conjunction with the accompanying drawings.
This utility model one in-service pipeline inwall flaw detection robot system, structure is concrete as it is shown in figure 1, include that pipeline leads to
Communication system and flaw detection robot 4 form, and pipeline communication system includes two cablets 5 being laid in in-service pipeline, two cablets 5
It is respectively power cable V+ and reference potential cable Vr, between two cablets 5, is arranged in parallel some intelligent nodes 1, intelligence joint
Point 1 employing super capacitor is powered, and uses wireless short-range communication, carry out between intelligent node 1 between flaw detection robot 4 and intelligent node 1
Post house formula wire communication, pipeline 2 is outer is also disposed with some pumping plants 3, along the line as in figure 2 it is shown, each intelligent node 1 is concrete
Internal circuit configuration is: include controller, and the 3rd i/o mouth of controller is connected to the supply lines of cablet 5 with switch K2 after being connected
On cable V+, switch K2 is N-channel enhancement mode mos pipe, and the power end VC of controller is connected with charging chip electric energy output end Cout,
Oneth i/o mouth of controller is connected on the power cable V+ of cablet 5 after being connected with switch K1, and switch K1 is P-channel depletion type
Mos manages, and the drain electrode of switch K1 is connected with the 2nd i/o mouth of controller again, and meanwhile, the drain electrode of switch K1 connects again after connecting resistance R
Being connected to charging chip, the electrical energy inputs of charging chip connects ground connection after electric capacity C1, and connecting between C+ and C-of charging chip has
Electric capacity C2, electric energy output end Cout of charging chip and earth terminal are also connected with carrying tapped super capacitor C, are denoted as electric capacity C3
With electric capacity C4, controller model is MSP430, and charging chip model is Itc3225, as it is shown on figure 3, be provided with in each pumping plant 3
PC 7, PC connect have power supply 6, power supply 6 to be connected with current detection sensor 9 again, current detection sensor 9 again with main switch
10 connect, and PC 7 is also connected with interface board 8, and interface board 8 controls main switch 10, and main switch 10 uses single-pole double-throw switch (SPDT),
The duct wall flaw detection information of any point along the line for pipeline 2 is passed through post house formula communication link to the outer pump of pipeline by flaw detection robot 4
Standing PC at 3,1 spacing distance of each intelligent node is 10～14m.
In whole system, between pumping plant, it is spaced nearly hundred km, between intelligent node, is spaced about 12.5 meters, electricity in pumping plant 3
Source 6 is the non-constant-current source of non-constant voltage, and power supply 6 is supplied to super capacitor charging in adjacent 3 intelligent nodes 1 of two pumping plants, in addition
Undertake PC 7 and the powered operation of other module in pumping plant 3.In Fig. 3, current detection sensor 9 is Hall current sensor, inspection
Survey charging current on cable, when charging current is less than certain value, and PC 7 controls switch 10 cut-out intelligent node 1 charge circuit,
Connect the communication loop between intelligent node 1 and PC 7, cable screw cincture at Hall current sensor, Hall current sensor
Insert in spiral pipeline, which enhance magnetic induction density B, improve detection sensitivity, when LF communication, spiraltron L
Little on information transmission impact.
The specific works principle of each intelligent node 1 is:
V+ in Fig. 2, Vr are two cablets 5, and Vr uses P-channel depletion type mos as reference potential cable, electrical switch K1
Pipe (closed type), switch K2 use N-channel enhancement mode mos pipe (open type), and in pumping plant 3, PC 7 is according to current detecting on circuit
The charging current that sensor 9 gathers determines whether to control main switch 10 and switches circuit to communications status, when main switch 10 switches
To charged state, K1 closes, and K2 disconnects, and in pumping plant 3, the super capacitor in intelligent node 1 is filled by power supply 6 by two Thin cables
Electricity, wherein LTC3225 is charging chip, and the output Vout of LTC3225 is supplied to MSP430 series low power consumption control device in node
Electric energy.When K1 disconnects, and K2 closes, and main switch 10 is switched to communications status, and in pumping plant 3, PC 7 is by two Thin cables and intelligence
Node 1 and flaw detection robot 4 carry out post house formula communication, and on link, in intelligent node 1, MSP430 controller board inter-stage passes through serial ports
RX/TX single line carries out half-duplex operation, and intelligent node 1 and flaw detection robot 4 are by wireless short-range transceiver module wireless short-range
Communication.
This utility model one in-service pipeline inwall flaw detection robot system, embeds intelligence at interval of certain distance in cablet 5
Can node 1, the intelligent node 1 on link uses super capacitor to power, and super capacitor is charged by cablet 5, flaw detection robot 4 with
Using wireless short-range communication between intelligent node 1, carry out post house formula wire communication between intelligent node, flaw detection robot 4 is by pipeline 2 edge
The duct wall flaw detection information of line any point, is saved by intelligence to PC at the outer pumping plant 3 of pipeline by post house formula communication link
Point post house formula communication realizes PC and robot terminal information at pumping plant and passes mutually, and whole system is low in energy consumption.
Claims (3)
1. an in-service pipeline inwall flaw detection robot system, it is characterised in that include pipeline communication system and flaw detection robot
(4) composition, described pipeline communication system includes that two cablets (5) being laid in in-service pipeline, two cablets (5) are respectively and supply
Electric wire cable V+ and reference potential cable Vr, has been arranged in parallel some intelligent nodes (1), described intelligence between described two cablets (5)
Super capacitor can be used to power by node (1), between described flaw detection robot (4) and intelligent node (1), use wireless short-range communication, intelligence
Can carry out post house formula wire communication between node (1), described pipeline (2) is also disposed with some pumping plants (3) outward along the line.
A kind of in-service pipeline inwall flaw detection robot system the most according to claim 1, it is characterised in that described each intelligence
The concrete internal circuit configuration of energy node (1) is: include controller, after the 3rd i/o mouth of described controller is connected with switch K2
Being connected on the power cable V+ of cablet (5), described switch K2 is N-channel enhancement mode mos pipe, the power end VC of described controller
Being connected with charging chip electric energy output end Cout, an i/o mouth of controller is connected to the confession of cablet (5) with switch K1 after being connected
On electric wire cable V+, described switch K1 is P-channel depletion type mos pipe, and the drain electrode of switch K1 is again with the 2nd i/o mouth of controller even
Connecing, meanwhile, the drain electrode of switch K1 is connected to again charging chip after connecting resistance R, and the electrical energy inputs of described charging chip connects
Ground connection after electric capacity C1, connects between C+ and C-of charging chip and has electric capacity C2, electric energy output end Cout of charging chip and ground connection
End is also connected with carrying tapped super capacitor C, is denoted as electric capacity C3 and electric capacity C4.
A kind of in-service pipeline inwall flaw detection robot system the most according to claim 1, it is characterised in that described each pump
Standing and be provided with PC (7) in (3), PC connects has power supply (6), power supply (6) to be connected with current detection sensor (9) again, electric current
Detection sensor (9) is connected with main switch (10) again, and described PC (7) is also connected with interface board (8), and interface board (8) is same
Time be also connected with main switch (10), described main switch (10) use single-pole double-throw switch (SPDT) control, described flaw detection robot (4) will pipe
The duct wall flaw detection information of road (2) any point along the line passes through post house formula communication link to pipeline outer pumping plant (3) place PC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620076468.3U CN205689996U (en) | 2016-01-26 | 2016-01-26 | A kind of in-service pipeline inwall flaw detection robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620076468.3U CN205689996U (en) | 2016-01-26 | 2016-01-26 | A kind of in-service pipeline inwall flaw detection robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205689996U true CN205689996U (en) | 2016-11-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620076468.3U Expired - Fee Related CN205689996U (en) | 2016-01-26 | 2016-01-26 | A kind of in-service pipeline inwall flaw detection robot system |
Country Status (1)
| Country | Link |
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| CN (1) | CN205689996U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105682005A (en) * | 2016-01-26 | 2016-06-15 | 西安文理学院 | Superfine cable post type communication system and method in pipeline |
-
2016
- 2016-01-26 CN CN201620076468.3U patent/CN205689996U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105682005A (en) * | 2016-01-26 | 2016-06-15 | 西安文理学院 | Superfine cable post type communication system and method in pipeline |
| CN105682005B (en) * | 2016-01-26 | 2019-03-01 | 西安文理学院 | Ultra-fine cable post house formula communication system and communication means in a kind of pipeline |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161116 Termination date: 20180126 |